From 74b76ed199204a4dd735c243562db8924d176e82 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Mon, 8 Apr 2013 16:15:31 -0700 Subject: [PATCH] Added back in the 1.3 SDF model for polaris --- polaris_ranger_ev/model-1_3.sdf | 593 ++++++++++++++++++++++++++++++++ 1 file changed, 593 insertions(+) create mode 100644 polaris_ranger_ev/model-1_3.sdf diff --git a/polaris_ranger_ev/model-1_3.sdf b/polaris_ranger_ev/model-1_3.sdf new file mode 100644 index 0000000..3d24158 --- /dev/null +++ b/polaris_ranger_ev/model-1_3.sdf @@ -0,0 +1,593 @@ + + + + + + + + 720.0 + + 140 + 0.0550 + 0.00.0550 + + + + + 0 0 0 0 0 -1.570796 + + + model://polaris_ranger_ev/meshes/polaris.dae + + + + + + + + 0.0 0.0 0.35 0.0 0.0 0.0 + + + 2.0 1.0 0.1 + + + + + -0.9 0.0 0.9 0.0 0.0 0.0 + + + 0.9 1.2 0.01 + + + + + -0.45 0.0 1.025 0.0 0.0 0.0 + + + 0.05 1.2 0.25 + + + + + -1.35 0.0 1.025 0.0 0.0 0.0 + + + 0.05 1.2 0.25 + + + + + -0.9 0.6 1.025 0.0 0.0 0.0 + + + 0.9 0.05 0.25 + + + + + -0.9 -0.6 1.025 0.0 0.0 0.0 + + + 0.9 0.05 0.25 + + + + + -0.1 0.0 0.625 0.0 0.0 0.0 + + + 0.6 1.0 0.65 + + + + + -0.3 0.0 1.125 0.0 -0.2 0.0 + + + 0.1 1.0 0.4 + + + + + 0.95 0.0 0.7 0.0 0.0 0.0 + + + 0.58 1.0 0.8 + + + + + 0.525 0.3 1.025 0.0 -0.8 0.0 + + + 0.05 + 0.45 + + + + + + -0.85 -0.6 0.32 1.570796 0.0 0.0 + + 12 + + 0.5 + 0.00.5 + 0.00.01.0 + + + + + + 0.32 + 0.23 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + + 0.0 0.0 -0.1 0 0 0 + rear_right_wheel + chassis + + 0 1 0 + + + 0.000000 + 0.900000 + + + + -0.85 0.6 0.32 1.570796 0.0 0.0 + + 12 + + 0.5 + 0.00.5 + 0.00.01.0 + + + + + + 0.32 + 0.23 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + + rear_left_wheel + chassis + + 0 1 0 + + + 0.000000 + 0.900000 + + + + 1.03 -0.6 0.32 1.570796 0.0 0.0 + + 12 + + 0.5 + 0.00.5 + 0.00.01.0 + + + + + + 0.32 + 0.23 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + + 1.03 -0.5 0.32 1.570796 0.0 0.0 + + 1 + + 1.0 + 0.01.0 + 0.00.01.0 + + + + + + 0.05 + 0.01 + + + + + + front_right_wheel_steering_block + chassis + + 0 0 1 + + -1.0 + 1.0 + + + + 0.000000 + 0.900000 + + + + front_right_wheel + front_right_wheel_steering_block + + 0 1 0 + + + 0.000000 + 0.900000 + + + + 1.03 0.6 0.32 1.570796 0.0 0.0 + + 12 + + 0.5 + 0.00.5 + 0.00.01.0 + + + + + + 0.32 + 0.23 + + + + + + 100000.0 + 100000.0 + 0.0 + 0.0 + + + + + + + 1.03 0.5 0.32 1.570796 0.0 0.0 + + 1 + + 1.0 + 0.01.0 + 0.00.01.0 + + + + + + 0.05 + 0.01 + + + + + + front_left_wheel_steering_block + chassis + + 0 0 1 + + -1.0 + 1.0 + + + + 0.000000 + 0.900000 + + + + front_left_wheel + front_left_wheel_steering_block + + 0 1 0 + + + 0.000000 + 0.900000 + + + + + 0.53 0.14 0.56 0 -1.0 0 + false + + 0.1 + 0 0 0 0 0 0 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + + + + + 0.120000 0.070000 0.030000 + + + + + + + 0.120000 0.070000 0.030000 + + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.5 0.5 0.5 1 + + + + + + false + 0.54 0.27 0.58 0 -1.0 0 + + 0.1 + 0 0 0 0 0 0 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + + + + + 0.06 0.08 0.03 + + + + + + + 0.060000 0.080000 0.030000 + + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.5 0.5 0.5 1 + + + + + + 0.37 0.30 1.2 0 -0.8 0 + + 1.0 + 0 0 0 0 0 0 + + 0.1 + 0 + 0 + 0.1 + 0 + 1.0 + + + + 0.0 0.08 0.0 1.570796 0 0 + + + 0.02 + 0.15 + + + + + 0.0 -0.08 0.0 1.570796 0 0 + + + 0.02 + 0.15 + + + + + -0.08 0.0 0.0 0 1.570796 0 + + + 0.02 + 0.15 + + + + + 0.150000 0.000000 0 0 1.570796 1.570796 + 0.1050657780870.01 + + + 0.121353 0.088168 0 0 1.570796 2.199115 + 0.1050657780870.01 + + + 0.046353 0.142658 0 0 1.570796 2.827433 + 0.1050657780870.01 + + + -0.046353 0.142658 0 0 1.570796 3.455752 + 0.1050657780870.01 + + + -0.121353 0.088168 0 0 1.570796 4.084070 + 0.1050657780870.01 + + + -0.150000 0.000000 0 0 1.570796 4.712389 + 0.1050657780870.01 + + + -0.121353 -0.088168 0 0 1.570796 5.340708 + 0.1050657780870.01 + + + -0.046353 -0.142658 0 0 1.570796 5.969026 + 0.1050657780870.01 + + + 0.046353 -0.142658 0 0 1.570796 6.597345 + 0.1050657780870.01 + + + 0.121353 -0.088168 0 0 1.570796 7.225663 + 0.1050657780870.01 + + 0.1 + + + 0.50 0.00 1.05 0.0 3.2 0.0 + + 1.0 + 0 0 -0.15 0 0 0 + + 0.1 + 0 + 0 + 0.1 + 0 + 1.0 + + + + 0 0 -0.10 0 0 0 + + + 0.01 + 0.2 + + + + + 0 0 -0.10 0 0 0 + + + 0.01 + 0.2 + + + + + + + + + chassis + gas_pedal + + 1.000000 0.000000 -1.000000 + + 0.00 + 0.15 + + + + + chassis + brake_pedal + + 1.000000 0.000000 -0.600000 + + 0.00 + 0.15 + + + + + 0 0 0 1.570796 -0.8 0.0 + chassis + steering_wheel + + -1 0 1.023 + + -7.853000 + 7.853000 + + + + + chassis + hand_brake + + 0.0 -1.0 0.0 + + 0 + 0.6 + + + + +